diff --git a/docs/core/subagents.md b/docs/core/subagents.md
index 659ed6d640..6d863f489e 100644
--- a/docs/core/subagents.md
+++ b/docs/core/subagents.md
@@ -7,20 +7,14 @@ the main agent's context or toolset.
 
 > **Note: Subagents are currently an experimental feature.**
 >
-> To use custom subagents, you must explicitly enable them in your
-> `settings.json`:
+> To use custom subagents, you must ensure they are enabled in your
+> `settings.json` (enabled by default):
 >
 > ```json
 > {
 >   "experimental": { "enableAgents": true }
 > }
 > ```
->
-> **Warning:** Subagents currently operate in
-> ["YOLO mode"](../reference/configuration.md#command-line-arguments), meaning
-> they may execute tools without individual user confirmation for each step.
-> Proceed with caution when defining agents with powerful tools like
-> `run_shell_command` or `write_file`.
 
 ## What are subagents?
 
diff --git a/docs/reference/configuration.md b/docs/reference/configuration.md
index 01aaea676f..8845b6dd69 100644
--- a/docs/reference/configuration.md
+++ b/docs/reference/configuration.md
@@ -1158,9 +1158,8 @@ their corresponding top-level category object in your `settings.json` file.
   - **Requires restart:** Yes
 
 - **`experimental.enableAgents`** (boolean):
-  - **Description:** Enable local and remote subagents. Warning: Experimental
-    feature, uses YOLO mode for subagents
-  - **Default:** `false`
+  - **Description:** Enable local and remote subagents.
+  - **Default:** `true`
   - **Requires restart:** Yes
 
 - **`experimental.extensionManagement`** (boolean):
diff --git a/packages/cli/src/commands/extensions/install.test.ts b/packages/cli/src/commands/extensions/install.test.ts
index b0fd20d311..417e750651 100644
--- a/packages/cli/src/commands/extensions/install.test.ts
+++ b/packages/cli/src/commands/extensions/install.test.ts
@@ -137,6 +137,7 @@ describe('handleInstall', () => {
       mcps: [],
       hooks: [],
       skills: [],
+      agents: [],
       settings: [],
       securityWarnings: [],
       discoveryErrors: [],
@@ -379,6 +380,7 @@ describe('handleInstall', () => {
       mcps: [],
       hooks: [],
       skills: ['cool-skill'],
+      agents: ['cool-agent'],
       settings: [],
       securityWarnings: ['Security risk!'],
       discoveryErrors: ['Read error'],
@@ -408,6 +410,10 @@ describe('handleInstall', () => {
       expect.stringContaining('cool-skill'),
       false,
     );
+    expect(mockPromptForConsentNonInteractive).toHaveBeenCalledWith(
+      expect.stringContaining('cool-agent'),
+      false,
+    );
     expect(mockPromptForConsentNonInteractive).toHaveBeenCalledWith(
       expect.stringContaining('Security Warnings:'),
       false,
diff --git a/packages/cli/src/commands/extensions/install.ts b/packages/cli/src/commands/extensions/install.ts
index eea7679c00..542d1240be 100644
--- a/packages/cli/src/commands/extensions/install.ts
+++ b/packages/cli/src/commands/extensions/install.ts
@@ -99,11 +99,15 @@ export async function handleInstall(args: InstallArgs) {
         if (hasDiscovery) {
           promptLines.push(chalk.bold('This folder contains:'));
           const groups = [
-            { label: 'Commands', items: discoveryResults.commands },
-            { label: 'MCP Servers', items: discoveryResults.mcps },
-            { label: 'Hooks', items: discoveryResults.hooks },
-            { label: 'Skills', items: discoveryResults.skills },
-            { label: 'Setting overrides', items: discoveryResults.settings },
+            { label: 'Commands', items: discoveryResults.commands ?? [] },
+            { label: 'MCP Servers', items: discoveryResults.mcps ?? [] },
+            { label: 'Hooks', items: discoveryResults.hooks ?? [] },
+            { label: 'Skills', items: discoveryResults.skills ?? [] },
+            { label: 'Agents', items: discoveryResults.agents ?? [] },
+            {
+              label: 'Setting overrides',
+              items: discoveryResults.settings ?? [],
+            },
           ].filter((g) => g.items.length > 0);
 
           for (const group of groups) {
diff --git a/packages/cli/src/config/settingsSchema.test.ts b/packages/cli/src/config/settingsSchema.test.ts
index 53d75bd436..37ddf87642 100644
--- a/packages/cli/src/config/settingsSchema.test.ts
+++ b/packages/cli/src/config/settingsSchema.test.ts
@@ -400,12 +400,10 @@ describe('SettingsSchema', () => {
       expect(setting).toBeDefined();
       expect(setting.type).toBe('boolean');
       expect(setting.category).toBe('Experimental');
-      expect(setting.default).toBe(false);
+      expect(setting.default).toBe(true);
       expect(setting.requiresRestart).toBe(true);
       expect(setting.showInDialog).toBe(false);
-      expect(setting.description).toBe(
-        'Enable local and remote subagents. Warning: Experimental feature, uses YOLO mode for subagents',
-      );
+      expect(setting.description).toBe('Enable local and remote subagents.');
     });
 
     it('should have skills setting enabled by default', () => {
diff --git a/packages/cli/src/config/settingsSchema.ts b/packages/cli/src/config/settingsSchema.ts
index 87fbe98fc3..04db402f07 100644
--- a/packages/cli/src/config/settingsSchema.ts
+++ b/packages/cli/src/config/settingsSchema.ts
@@ -1838,9 +1838,8 @@ const SETTINGS_SCHEMA = {
         label: 'Enable Agents',
         category: 'Experimental',
         requiresRestart: true,
-        default: false,
-        description:
-          'Enable local and remote subagents. Warning: Experimental feature, uses YOLO mode for subagents',
+        default: true,
+        description: 'Enable local and remote subagents.',
         showInDialog: false,
       },
       extensionManagement: {
diff --git a/packages/cli/src/ui/components/FolderTrustDialog.test.tsx b/packages/cli/src/ui/components/FolderTrustDialog.test.tsx
index 012b2aab2f..e68417fc55 100644
--- a/packages/cli/src/ui/components/FolderTrustDialog.test.tsx
+++ b/packages/cli/src/ui/components/FolderTrustDialog.test.tsx
@@ -66,6 +66,7 @@ describe('FolderTrustDialog', () => {
       mcps: Array.from({ length: 10 }, (_, i) => `mcp${i}`),
       hooks: Array.from({ length: 10 }, (_, i) => `hook${i}`),
       skills: Array.from({ length: 10 }, (_, i) => `skill${i}`),
+      agents: [],
       settings: Array.from({ length: 10 }, (_, i) => `setting${i}`),
       discoveryErrors: [],
       securityWarnings: [],
@@ -95,6 +96,7 @@ describe('FolderTrustDialog', () => {
       mcps: [],
       hooks: [],
       skills: [],
+      agents: [],
       settings: [],
       discoveryErrors: [],
       securityWarnings: [],
@@ -125,6 +127,7 @@ describe('FolderTrustDialog', () => {
       mcps: [],
       hooks: [],
       skills: [],
+      agents: [],
       settings: [],
       discoveryErrors: [],
       securityWarnings: [],
@@ -152,6 +155,7 @@ describe('FolderTrustDialog', () => {
       mcps: [],
       hooks: [],
       skills: [],
+      agents: [],
       settings: [],
       discoveryErrors: [],
       securityWarnings: [],
@@ -332,6 +336,7 @@ describe('FolderTrustDialog', () => {
         mcps: ['mcp1'],
         hooks: ['hook1'],
         skills: ['skill1'],
+        agents: ['agent1'],
         settings: ['general', 'ui'],
         discoveryErrors: [],
         securityWarnings: [],
@@ -355,6 +360,8 @@ describe('FolderTrustDialog', () => {
       expect(lastFrame()).toContain('- hook1');
       expect(lastFrame()).toContain('• Skills (1):');
       expect(lastFrame()).toContain('- skill1');
+      expect(lastFrame()).toContain('• Agents (1):');
+      expect(lastFrame()).toContain('- agent1');
       expect(lastFrame()).toContain('• Setting overrides (2):');
       expect(lastFrame()).toContain('- general');
       expect(lastFrame()).toContain('- ui');
@@ -367,6 +374,7 @@ describe('FolderTrustDialog', () => {
         mcps: [],
         hooks: [],
         skills: [],
+        agents: [],
         settings: [],
         discoveryErrors: [],
         securityWarnings: ['Dangerous setting detected!'],
@@ -390,6 +398,7 @@ describe('FolderTrustDialog', () => {
         mcps: [],
         hooks: [],
         skills: [],
+        agents: [],
         settings: [],
         discoveryErrors: ['Failed to load custom commands'],
         securityWarnings: [],
@@ -413,6 +422,7 @@ describe('FolderTrustDialog', () => {
         mcps: [],
         hooks: [],
         skills: [],
+        agents: [],
         settings: [],
         discoveryErrors: [],
         securityWarnings: [],
@@ -446,6 +456,7 @@ describe('FolderTrustDialog', () => {
         mcps: [`${ansiRed}mcp-with-ansi${ansiReset}`],
         hooks: [`${ansiRed}hook-with-ansi${ansiReset}`],
         skills: [`${ansiRed}skill-with-ansi${ansiReset}`],
+        agents: [],
         settings: [`${ansiRed}setting-with-ansi${ansiReset}`],
         discoveryErrors: [`${ansiRed}error-with-ansi${ansiReset}`],
         securityWarnings: [`${ansiRed}warning-with-ansi${ansiReset}`],
diff --git a/packages/cli/src/ui/components/FolderTrustDialog.tsx b/packages/cli/src/ui/components/FolderTrustDialog.tsx
index 6c1c0d9e8c..5f226b7d15 100644
--- a/packages/cli/src/ui/components/FolderTrustDialog.tsx
+++ b/packages/cli/src/ui/components/FolderTrustDialog.tsx
@@ -135,6 +135,7 @@ export const FolderTrustDialog: React.FC<FolderTrustDialogProps> = ({
     { label: 'MCP Servers', items: discoveryResults?.mcps ?? [] },
     { label: 'Hooks', items: discoveryResults?.hooks ?? [] },
     { label: 'Skills', items: discoveryResults?.skills ?? [] },
+    { label: 'Agents', items: discoveryResults?.agents ?? [] },
     { label: 'Setting overrides', items: discoveryResults?.settings ?? [] },
   ].filter((g) => g.items.length > 0);
 
diff --git a/packages/core/src/config/config.test.ts b/packages/core/src/config/config.test.ts
index fd478bba40..573a6bedde 100644
--- a/packages/core/src/config/config.test.ts
+++ b/packages/core/src/config/config.test.ts
@@ -1246,7 +1246,7 @@ describe('Server Config (config.ts)', () => {
       const config = new Config(params);
 
       const mockAgentDefinition = {
-        name: 'codebase-investigator',
+        name: 'codebase_investigator',
         description: 'Agent 1',
         instructions: 'Inst 1',
       };
@@ -1294,7 +1294,7 @@ describe('Server Config (config.ts)', () => {
     it('should register subagents as tools even when they are not in allowedTools', async () => {
       const params: ConfigParameters = {
         ...baseParams,
-        allowedTools: ['read_file'], // codebase-investigator is NOT here
+        allowedTools: ['read_file'], // codebase_investigator is NOT here
         agents: {
           overrides: {
             codebase_investigator: { enabled: true },
@@ -1304,7 +1304,7 @@ describe('Server Config (config.ts)', () => {
       const config = new Config(params);
 
       const mockAgentDefinition = {
-        name: 'codebase-investigator',
+        name: 'codebase_investigator',
         description: 'Agent 1',
         instructions: 'Inst 1',
       };
diff --git a/packages/core/src/config/config.ts b/packages/core/src/config/config.ts
index 32c7f067f3..1b09d59125 100644
--- a/packages/core/src/config/config.ts
+++ b/packages/core/src/config/config.ts
@@ -948,7 +948,7 @@ export class Config implements McpContext, AgentLoopContext {
     this.model = params.model;
     this.disableLoopDetection = params.disableLoopDetection ?? false;
     this._activeModel = params.model;
-    this.enableAgents = params.enableAgents ?? false;
+    this.enableAgents = params.enableAgents ?? true;
     this.agents = params.agents ?? {};
     this.disableLLMCorrection = params.disableLLMCorrection ?? true;
     this.planEnabled = params.plan ?? true;
@@ -3147,22 +3147,23 @@ export class Config implements McpContext, AgentLoopContext {
    */
   private registerSubAgentTools(registry: ToolRegistry): void {
     const agentsOverrides = this.getAgentsSettings().overrides ?? {};
-    if (
-      this.isAgentsEnabled() ||
-      agentsOverrides['codebase_investigator']?.enabled !== false ||
-      agentsOverrides['cli_help']?.enabled !== false
-    ) {
-      const definitions = this.agentRegistry.getAllDefinitions();
+    const definitions = this.agentRegistry.getAllDefinitions();
 
-      for (const definition of definitions) {
-        try {
-          const tool = new SubagentTool(definition, this, this.messageBus);
-          registry.registerTool(tool);
-        } catch (e: unknown) {
-          debugLogger.warn(
-            `Failed to register tool for agent ${definition.name}: ${getErrorMessage(e)}`,
-          );
+    for (const definition of definitions) {
+      try {
+        if (
+          !this.isAgentsEnabled() ||
+          agentsOverrides[definition.name]?.enabled === false
+        ) {
+          continue;
         }
+
+        const tool = new SubagentTool(definition, this, this.messageBus);
+        registry.registerTool(tool);
+      } catch (e: unknown) {
+        debugLogger.warn(
+          `Failed to register tool for agent ${definition.name}: ${getErrorMessage(e)}`,
+        );
       }
     }
   }
diff --git a/packages/core/src/services/FolderTrustDiscoveryService.test.ts b/packages/core/src/services/FolderTrustDiscoveryService.test.ts
index b6d7d7734a..ad23b027c0 100644
--- a/packages/core/src/services/FolderTrustDiscoveryService.test.ts
+++ b/packages/core/src/services/FolderTrustDiscoveryService.test.ts
@@ -42,6 +42,11 @@ describe('FolderTrustDiscoveryService', () => {
     await fs.mkdir(path.join(skillsDir, 'test-skill'), { recursive: true });
     await fs.writeFile(path.join(skillsDir, 'test-skill', 'SKILL.md'), 'body');
 
+    // Mock agents
+    const agentsDir = path.join(geminiDir, 'agents');
+    await fs.mkdir(agentsDir);
+    await fs.writeFile(path.join(agentsDir, 'test-agent.md'), 'body');
+
     // Mock settings (MCPs, Hooks, and general settings)
     const settings = {
       mcpServers: {
@@ -62,6 +67,7 @@ describe('FolderTrustDiscoveryService', () => {
 
     expect(results.commands).toContain('test-cmd');
     expect(results.skills).toContain('test-skill');
+    expect(results.agents).toContain('test-agent');
     expect(results.mcps).toContain('test-mcp');
     expect(results.hooks).toContain('test-hook');
     expect(results.settings).toContain('general');
@@ -79,9 +85,6 @@ describe('FolderTrustDiscoveryService', () => {
         allowed: ['git'],
         sandbox: false,
       },
-      experimental: {
-        enableAgents: true,
-      },
       security: {
         folderTrust: {
           enabled: false,
@@ -98,9 +101,6 @@ describe('FolderTrustDiscoveryService', () => {
     expect(results.securityWarnings).toContain(
       'This project auto-approves certain tools (tools.allowed).',
     );
-    expect(results.securityWarnings).toContain(
-      'This project enables autonomous agents (enableAgents).',
-    );
     expect(results.securityWarnings).toContain(
       'This project attempts to disable folder trust (security.folderTrust.enabled).',
     );
@@ -158,4 +158,20 @@ describe('FolderTrustDiscoveryService', () => {
     expect(results.discoveryErrors).toHaveLength(0);
     expect(results.settings).toHaveLength(0);
   });
+
+  it('should flag security warning for custom agents', async () => {
+    const geminiDir = path.join(tempDir, GEMINI_DIR);
+    await fs.mkdir(geminiDir, { recursive: true });
+
+    const agentsDir = path.join(geminiDir, 'agents');
+    await fs.mkdir(agentsDir);
+    await fs.writeFile(path.join(agentsDir, 'test-agent.md'), 'body');
+
+    const results = await FolderTrustDiscoveryService.discover(tempDir);
+
+    expect(results.agents).toContain('test-agent');
+    expect(results.securityWarnings).toContain(
+      'This project contains custom agents.',
+    );
+  });
 });
diff --git a/packages/core/src/services/FolderTrustDiscoveryService.ts b/packages/core/src/services/FolderTrustDiscoveryService.ts
index bdf5d76297..09e32210a8 100644
--- a/packages/core/src/services/FolderTrustDiscoveryService.ts
+++ b/packages/core/src/services/FolderTrustDiscoveryService.ts
@@ -16,6 +16,7 @@ export interface FolderDiscoveryResults {
   mcps: string[];
   hooks: string[];
   skills: string[];
+  agents: string[];
   settings: string[];
   securityWarnings: string[];
   discoveryErrors: string[];
@@ -37,6 +38,7 @@ export class FolderTrustDiscoveryService {
       mcps: [],
       hooks: [],
       skills: [],
+      agents: [],
       settings: [],
       securityWarnings: [],
       discoveryErrors: [],
@@ -50,6 +52,7 @@ export class FolderTrustDiscoveryService {
     await Promise.all([
       this.discoverCommands(geminiDir, results),
       this.discoverSkills(geminiDir, results),
+      this.discoverAgents(geminiDir, results),
       this.discoverSettings(geminiDir, results),
     ]);
 
@@ -99,6 +102,34 @@ export class FolderTrustDiscoveryService {
     }
   }
 
+  private static async discoverAgents(
+    geminiDir: string,
+    results: FolderDiscoveryResults,
+  ) {
+    const agentsDir = path.join(geminiDir, 'agents');
+    if (await this.exists(agentsDir)) {
+      try {
+        const entries = await fs.readdir(agentsDir, { withFileTypes: true });
+        for (const entry of entries) {
+          if (
+            entry.isFile() &&
+            entry.name.endsWith('.md') &&
+            !entry.name.startsWith('_')
+          ) {
+            results.agents.push(path.basename(entry.name, '.md'));
+          }
+        }
+        if (results.agents.length > 0) {
+          results.securityWarnings.push('This project contains custom agents.');
+        }
+      } catch (e) {
+        results.discoveryErrors.push(
+          `Failed to discover agents: ${e instanceof Error ? e.message : String(e)}`,
+        );
+      }
+    }
+  }
+
   private static async discoverSettings(
     geminiDir: string,
     results: FolderDiscoveryResults,
@@ -119,7 +150,7 @@ export class FolderTrustDiscoveryService {
         (key) => !['mcpServers', 'hooks', '$schema'].includes(key),
       );
 
-      results.securityWarnings = this.collectSecurityWarnings(settings);
+      results.securityWarnings.push(...this.collectSecurityWarnings(settings));
 
       const mcpServers = settings['mcpServers'];
       if (this.isRecord(mcpServers)) {
@@ -159,10 +190,6 @@ export class FolderTrustDiscoveryService {
       ? settings['tools']
       : undefined;
 
-    const experimental = this.isRecord(settings['experimental'])
-      ? settings['experimental']
-      : undefined;
-
     const security = this.isRecord(settings['security'])
       ? settings['security']
       : undefined;
@@ -179,10 +206,6 @@ export class FolderTrustDiscoveryService {
         condition: Array.isArray(allowedTools) && allowedTools.length > 0,
         message: 'This project auto-approves certain tools (tools.allowed).',
       },
-      {
-        condition: experimental?.['enableAgents'] === true,
-        message: 'This project enables autonomous agents (enableAgents).',
-      },
       {
         condition: folderTrust?.['enabled'] === false,
         message:
diff --git a/schemas/settings.schema.json b/schemas/settings.schema.json
index f482053d9f..df802f97a9 100644
--- a/schemas/settings.schema.json
+++ b/schemas/settings.schema.json
@@ -1970,9 +1970,9 @@
         },
         "enableAgents": {
           "title": "Enable Agents",
-          "description": "Enable local and remote subagents. Warning: Experimental feature, uses YOLO mode for subagents",
-          "markdownDescription": "Enable local and remote subagents. Warning: Experimental feature, uses YOLO mode for subagents\n\n- Category: `Experimental`\n- Requires restart: `yes`\n- Default: `false`",
-          "default": false,
+          "description": "Enable local and remote subagents.",
+          "markdownDescription": "Enable local and remote subagents.\n\n- Category: `Experimental`\n- Requires restart: `yes`\n- Default: `true`",
+          "default": true,
           "type": "boolean"
         },
         "extensionManagement": {